Observer Based Containment Control System for Lipschitz Nonlinear Systems

This paper looks at containment control problem for multi-agent systems under the influence of nonlinearity such as Lipschitz. Based on the Laplacian structure of the network, an observer-based containment controller has been proposed. The stability analysis is done based on Lyapunov stability theory in real time domain. The solutions for stability conditions are provided by Algebraic Riccati Equation (ARE). Two simulation examples are given to validate the theoretical results.